matlabbe
0e62050824
rtabmap: fixed graph re-optimized with only virtual links in localization mode (which can make gtsam crash because of under constrained covariance)
2021-12-12 13:07:02 -05:00
matlabbe
cf5e90238b
Statistics: added LoopOdom_correction stats for landmark detections.
2021-12-10 21:58:11 -05:00
matlabbe
8cf12c6135
Improved localization mode accuracy (decreasing jumps on consecutive loop closures or landmark detections). Updated usage of parameter RGBD/MaxOdomCacheSize (default 0->10)
2021-12-10 17:48:36 -05:00
matlabbe
4ab0090ecd
Support feature-only rectification when using external extracted features.
2021-12-06 09:26:10 -05:00
matlabbe
580e35afb1
Fixed missing 3D keypoints when RGBD/LoopClosureReextractFeatures=true and Reg/Strategy=1 ( https://github.com/introlab/rtabmap_ros/issues/668 ). DBViewer: fixed wrong poses optimization with GTSAM when showing scans of loop closures by proximity by space (multiscan) while there are GPS priors.
2021-12-05 17:38:53 -05:00
matlabbe
baae713471
Fixed unknown lines for octomap 2D grid projection. ( https://github.com/introlab/rtabmap_ros/issues/684 )
2021-11-30 20:34:51 -05:00
matlabbe
67710ef94c
Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options.
2021-11-21 17:10:57 -05:00
matlabbe
090ae0c444
DbViewer: added option to show disparity instead of right image in main views for stereo data
2021-11-20 16:36:54 -05:00
matlabbe
5fcbe2ed70
iOS: fixed install script ( #785 #741 )
2021-11-16 18:11:40 -05:00
matlabbe
9ae2c46546
CMake: fixed build without Python and Ceres if WITH_PYTHON and WITH_CERES are OFF (even if found by third party libraries, related to #783 ).
2021-11-15 18:00:17 -05:00
matlabbe
7af2a27e89
Improved log error when ROI is set with SuperPoint ( https://github.com/introlab/rtabmap_ros/issues/676 )
2021-11-14 20:26:42 -05:00
matlabbe
dbecaac809
Moved bin dir inside build directory ( #784 )
...
* Moved bin directory inside build directory (to make easier different builds with same source directory)
* Switched include order to avoid problems with remaining Version.h still in source directory taen before the one in binary dir. Fixed android build (updated res tool search path).
* workflow-cmake: fixed path to bin directory
2021-11-14 19:29:37 -05:00
matlabbe
6c07a670ee
Added OdometryOpen3D
2021-11-13 19:45:57 -05:00
matlabbe
ec2aa5c952
OpenNI2: depth shift can be negative. MainWindow: postProcessing() refactoring (split with and without dialog).
2021-11-09 10:16:12 -05:00
matlabbe
ddd5eb5a41
CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.
2021-11-05 18:05:50 -04:00
matlabbe
7c5acd8970
Parameters: Changed Grid/FromDepth to Grid/Sensor to add a new choice to use both scan and depth for local grids. Increased version to 0.20.15.
2021-10-29 20:05:12 -04:00
matlabbe
8682026396
Rtabmap: when optimizing graph, removed guess for rootid to avoid global rotation drift over time. CameraStereoImages: set BayerMode also to right image. GraphView: fixed 0 width for line inside NodeItem. Reprocess: added -loc_null and -gt options.
2021-10-23 11:17:42 -04:00
matlabbe
44810a14e0
Show if built with PDAL on --version option
2021-10-01 11:49:45 -04:00
matlabbe
467ea42981
OdometryFLOAM: fixed published local scan map local transform
2021-09-30 10:05:56 -04:00
matlabbe
77d947d4fb
Fixed FLOAM not working when local transform is not Identity. DBViewer: warn user when scan from dpeth is checked and there are no depth images in db.
2021-09-30 09:53:50 -04:00
matlabbe
533d78d570
Fixed OdometryOpenVINS build errors with latest OpenVINS code.
2021-09-28 17:12:08 -04:00
matlabbe
8c56b5b1ce
CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images.
2021-09-24 17:31:16 -04:00
matlabbe
bccc5b13af
FLOAM: added some debug logs
2021-09-24 11:32:25 -04:00
matlabbe
5f65618d40
Added OdomLOAM/Resolution parameter
2021-09-22 10:48:59 -04:00
matlabbe
cff0d15460
Fixed "wrong scan number" error when OdomLOAM/Sensor is 0 (VLP16)
2021-09-22 10:06:34 -04:00
matlabbe
14b56813d3
Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.
2021-09-19 20:20:45 -04:00
matlabbe
a901f20d06
0.20.14: added globalBundleAdjustment CLI, added Rtabmap/Memory::cleanupLocalGrids function, init with optimizedPoses from db even in mapping mode, reprocess: added -db option to save optimized 2d grid in database.
2021-09-11 11:35:43 -04:00
matlabbe
3ba02d2ef6
Added OdometryFLOAM (Odom/Strategy=11)
2021-09-09 17:38:54 -04:00
matlabbe
45d51808e3
💄
2021-09-08 09:38:16 -04:00
matlabbe
bc39b19517
projectCloudToCamerasImpl: fixed bug using wrong camera models
2021-09-08 09:34:21 -04:00
matlabbe
7baedf4c72
texturing: remove assert when poses and models are not the same size (just ignore poses without models, intermediate nodes issue)
2021-09-07 16:26:56 -04:00
matlabbe
20361400e1
export: output intensity channel with RGB when --cam_projection and --scan options are set (PDAL required)
2021-09-07 15:57:23 -04:00
matlabbe
c43118cde8
Fixed F2F-Optical flow not creating keyframes bug
2021-09-03 15:33:22 -04:00
matlabbe
f88ce1618b
OdometryORBSLAM3: fixed re-initilisation of camera parameters when restarting camera with different config.
2021-08-26 15:34:48 -04:00
matlabbe
ed68fe777b
Added more options for multiband texturing
2021-08-16 13:14:02 -04:00
matlabbe
a5685c3e31
Fixed build without DepthAI dep
2021-07-28 17:05:16 -04:00
matlabbe
138d4aa1be
If RGBD/LoopClosureReextractFeatures=true, don't save raw features (3d point, descriptor) to Feature table.
2021-07-28 14:32:32 -04:00
matlabbe
32bf0f9d61
Fixed CameraDepthAI with latest depthai version (using now camera eeprom calibration and added imu support)
2021-07-28 14:19:30 -04:00
matlabbe
ae92ec40d7
Fixed build with LOAM dependency
2021-07-14 13:22:47 -04:00
matlabbe
7338cb8a85
Localization: fixed initial graph optimization root id (based on RGBD/OptimizeFromGraphEnd) when optimized graph is not saved in db.
2021-07-09 14:57:15 -04:00
matlabbe
05d45872f3
DBReader: publish landmarks by default (also added option to ignore them)
2021-06-29 16:03:21 -04:00
matlabbe
3da4bb9faa
For Icp/DebugExportFormat and RGBD/ProximityGlobalScanMap, use Rtabmap/WorkingDirectory as output directory for debugging files.
2021-06-27 20:37:42 -04:00
matlabbe
a921d615c5
0.20.13: templated laserScanFromPointCloud() version with PCLPointCloud2 to be also used with sensor_msgs/PointCloud2 class (for rtabmap_ros).
2021-06-27 20:07:00 -04:00
matlabbe
2b9ae3a2ad
Added Icp/DebugExportFormat parameter
2021-06-26 16:06:25 -04:00
matlabbe
350f995ee9
merged master to scan_map branch
2021-06-25 16:38:03 -04:00
matlabbe
eabf3e3d57
Decimation parameters for feature detection cannot be negative anymore (always done based to RGB image and depth image is decimated only if it is bigger than decimated rgb image). MainWindow: fixed light blue screen-only on full rehearsal merge.
2021-06-25 12:54:52 -04:00
matlabbe
48ebf969bd
OdometryInfo: fixed IcpRMS not copied in copyWithoutData()
2021-06-24 22:38:19 -04:00
matlabbe
656618ccb7
Merge branch 'master' of https://github.com/introlab/rtabmap into scan_map
2021-06-24 19:53:23 -04:00
matlabbe
f5ab422c42
Odom: when odom is auto reset, reprocess the latest image and return its pose
2021-06-24 13:41:38 -04:00
matlabbe
5a676e9032
Fixed negative Odom/ImageDecimation not handled
2021-06-24 12:44:18 -04:00
matlabbe